Enhancing IV Insertion Skill Training: Integrating Bimanual Haptic Feedback in Mixed Reality

In this study, we present the development of an advanced bimanual intravenous (IV) needle insertion simulation system, leveraging the capabilities of mixed reality and haptic feedback technologies. The system offers an immersive experience by simulating real-world variability in a clinic environment. Our approach involves the integration of an exoskeleton haptic glove for left-hand interaction with a virtual patient's hand and a modified stylus haptic device for performing IV needle insertion into a virtual vein, visualized through the HoloLens 2 device. Multiphase calibration process ensures precise synchronization of these devices. To assess the system's usability, we conducted an evaluation experiment involving 31 students from the Kent State University College of Nursing. The results indicate that the simulation system is immersive and acceptable for training, although improvements are needed for a more realistic grasp feeling in haptic glove-based interactions. The variabilities, such as skin color, tattoos, vein size and location, and skin and vein stiffness, effectively control difficulty levels and enhances the system's adaptability for creating a customizable clinic environment.